CN205940280U - Projectile robot of mecanum wheel qxcomm technology - Google Patents
Projectile robot of mecanum wheel qxcomm technology Download PDFInfo
- Publication number
- CN205940280U CN205940280U CN201620930003.XU CN201620930003U CN205940280U CN 205940280 U CN205940280 U CN 205940280U CN 201620930003 U CN201620930003 U CN 201620930003U CN 205940280 U CN205940280 U CN 205940280U
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- CN
- China
- Prior art keywords
- fixed
- mecanum wheel
- yaw
- trigger mechanism
- transmitting
- Prior art date
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Abstract
The utility model discloses a projectile robot of mecanum wheel qxcomm technology, including mecanum wheel moving platform, cloud platform and trigger mechanism, the cloud platform is fixed at the mecanum wheel moving platform top, and trigger mechanism fixes at the cloud bench. The cloud platform includes yaw rotation of axes frame, yaw axle motor, pitch axle motor, the every single move frame, yaw axle motor is fixed at the mecanum wheel moving platform top, the output shaft of yaw axle motor links firmly through connecting piece and yaw rotation of axes rest base face, yaw rotation of axes frame top is rotated with the every single move frame and is connected, after connecting, both form the trigger mechanism mount, trigger mechanism fixes in the trigger mechanism mount, pitch axle motor is fixed on yaw rotation of axes frame, its output shaft links firmly with the every single move frame. The utility model discloses can carry out omnidirectional movement, can launch the bullet, the cloud platform of lift -launch can rotate around level and vertical axis, and then adjusts aiming of trigger mechanism.
Description
Technical field
This utility model belongs to robot field and in particular to a kind of projectile robot of Mecanum wheel omnidirectional.
Background technology
At present, Mecanum wheel is widely used in storing in a warehouse, and harbour, airport handling, in the task such as patrol.Mecanum wheel has
Oblique roller, can produce side force, and Mecanum wheel passes through the cooperation of four wheels rotating speed, it is possible to achieve transverse shifting,
Move horizontally, around itself rotation etc. work(, Omni-mobile can be realized by the cooperation of three degree of freedom.But Mecanum wheel
Energy loss is big, high to the control accuracy requirement of motion.Cradle head control has reached the degree of five axles, six axles etc., state at present
Interior top level can carry out six-axis linkage, and it is even more multi-shaft interlocked abroad can to reach nine axles, but generally existing application model
Enclose little, cost requirement high, the problem of limited precision.And critical piece dependence on import, domestic cannot independently manufacture.Ejection machine at present
The problems such as actuator generally existing simple structure of device people, poor reliability, manufacturing process are poor, novelty is poor, degree of precision
The predominantly imitated firearms of ejection mechanism, lethal big and danger coefficient is high, it is unsuitable for civilian.
The level that the robot of same class predominantly stays in small lot, manufactures on a small scale at present, and price is high, audient
Little, technical threshold is higher, and only the high-caliber school of minority and student can touch this class robot.With motor, control
The reduction of the various hardware device cost such as coremaking piece, Motor drive, the contact threshold of the robot of this class reduces, and starts to expedite the emergence of
Some inexpensive game robots are gone out.
Content of the invention
The purpose of this utility model is to provide a kind of projectile robot of Mecanum wheel omnidirectional, can carry out omnidirectional's shifting
Dynamic, can emission bullet, the head of carrying can be rotated around horizontal and vertical axle, and then adjusts the aiming of trigger mechanism.
The technical solution realizing this utility model purpose is：A kind of projectile robot of Mecanum wheel omnidirectional, including
Mecanum wheel mobile platform, head and trigger mechanism, head is fixed on Mecanum wheel mobile platform top, and trigger mechanism is solid
It is scheduled on head.
Described head includes Yaw axle swivel mount, Yaw spindle motor, Pitch spindle motor, pitching frame, and Yaw spindle motor is fixed on
Mecanum wheel mobile platform top, the output shaft of Yaw spindle motor is passed through connector and is connected with Yaw axle swivel mount bottom surface, Yaw axle
Rotation top of the trellis is rotated with pitching frame and is connected, and both form trigger mechanism fixed mount after connecting, and trigger mechanism is fixed on transmitter
In structure fixed mount, Pitch spindle motor is fixed on Yaw axle swivel mount, and its output shaft is connected with pitching frame.
Described connector is cylinder, and one end has the groove mating with the output shaft of Yaw spindle motor, the other end and Yaw
Axle swivel mount bottom surface is connected.
Described Yaw axle swivel mount and pitching frame are U-shaped frame, and both openings relatively, are rotated by bearing and connect, shape
Become trigger mechanism fixed mount.
Described trigger mechanism includes transmitting tube, friction turbin generator, dials bullet motor, transmitting storehouse protective cover and transmitting storehouse, transmitting
Pipe is fixed on transmitting orlop portion, and both junctions have a Lou bullet mouth, and transmitting storehouse protective cover is connected in transmitting storehouse top, transmitting storehouse and
The Yaw axle swivel mount of trigger mechanism fixed mount is connected；Dial bullet motor and be fixed on transmitting storehouse bottom centre, dial the output shaft of bullet motor
Stretch into transmitting storehouse, the thumb wheel of group bullet motor is corresponding with the leakage bullet mouth position of transmitting tube so that bullet is rotated into sending out by thumb wheel
Penetrate pipe；Transmitting pipe outer wall has window, and friction turbin generator is fixed on transmitting storehouse outer wall by motor fixing frame, friction turbin generator
Two friction pulleys stretch into transmitting window of tube, and the bullet entering transmitting tube, after two friction pulleys, is launched from emission port.
Described projectile robot of Mecanum wheel omnidirectional, also includes battery, photographic head, MiniPC machine and several is ultrasonic
Wave sensor, wherein, battery is fixed on Mecanum wheel mobile platform by battery carrier, and photographic head is fixed on outside transmitting storehouse
Wall, several ultrasonic sensors are uniformly distributed and are fixed on Mecanum wheel mobile platform surrounding, photographic head, supersonic sensing
Device, Yaw spindle motor and Pitch spindle motor are connected with MiniPC machine respectively, and MiniPC machine is fixed on Mecanum wheel mobile platform
On.
Compared with prior art, its remarkable advantage is this utility model：（1）Can by Mecanum wheel mobile platform
To realize Omni-mobile, close to target.
（2）By the launch angle of cradle head control trigger mechanism, by way of friction pulley opposite direction rotating is to the acceleration of BB bullet
Emission bullet, mode is simple and reliable.
（3）Structure is simple, low manufacture cost.
Brief description
Fig. 1 is the overall structure diagram of projectile robot of this utility model Mecanum wheel omnidirectional.
Fig. 2 is the trigger mechanism top view of projectile robot of this utility model Mecanum wheel omnidirectional.
Fig. 3 is the trigger mechanism side view of projectile robot of this utility model Mecanum wheel omnidirectional.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described in further detail.
In conjunction with Fig. 1 to Fig. 3, a kind of projectile robot of Mecanum wheel omnidirectional, including Mecanum wheel mobile platform 8, cloud
Platform and trigger mechanism, head is bolted and is fixed on Mecanum wheel mobile platform 8 top, and trigger mechanism is by bolt even
Connect and be fixed on head.
Described head includes Yaw axle swivel mount 12, Yaw spindle motor 11, Pitch spindle motor 4, pitching frame 13, Yaw axle electricity
Machine 11 is fixed on Mecanum wheel mobile platform top, and the output shaft of Yaw spindle motor 11 passes through connector and Yaw axle swivel mount 12
Bottom surface is connected, and Yaw axle swivel mount 12 top is rotated by bearing with pitching frame 13 and is connected, and it is solid that both form trigger mechanism after connecting
Determine frame, trigger mechanism is bolted and is fixed in trigger mechanism fixed mount, and Pitch spindle motor 4 is fixed on Yaw axle swivel mount
On 12, its output shaft is connected with pitching frame 13.
Described connector is cylinder, and one end has groove mate with the output shaft of Yaw spindle motor 11, the other end and
Yaw axle swivel mount 12 bottom surface is connected, and its function is equivalent to shaft coupling.
Described Yaw axle swivel mount 12 and pitching frame 13 are U-shaped frame, and both openings relatively, are rotated even by bearing
Connect, form trigger mechanism fixed mount.
Described trigger mechanism includes transmitting tube 6, friction turbin generator 5, dials bullet motor 14, transmitting storehouse protective cover 2 and transmitting storehouse
3, transmitting tube 6 is fixed on transmitting storehouse 3 bottom, and transmitting storehouse 3 has Lou bullet mouth with transmitting tube 4 connecting place, is communicated by leaking bullet mouth, sends out
Penetrate the top that storehouse protective cover 2 is connected in transmitting storehouse 3, the Yaw axle swivel mount 12 of transmitting storehouse 3 and trigger mechanism fixed mount passes through bolt
It is connected；Dial bullet motor 14 and be arranged on transmitting storehouse 3 bottom centre, be connected with transmitting storehouse 3 by bolt, dial the output shaft of bullet motor 14
Stretch into transmitting storehouse 3, and transmitting tube 6 leakage bullet mouth position is corresponding so that bullet is rotated from leakage by thumb wheel for the thumb wheel of group bullet motor 14
Bullet mouth is emitted into transmitting tube 6；Transmitting tube 6 outer wall has window, and friction turbin generator 5 is fixed on transmitting storehouse by motor fixing frame
3 outer walls, two friction pulleys of friction turbin generator 5 stretch into transmitting tube 6 window, the bullet entering transmitting tube 6 after two friction pulleys,
From emission port transmitting.
Robot of described Mecanum wheel omnidirectional, also includes battery 1, photographic head, MiniPC machine 10 and several ultrasound wave
Sensor, wherein, battery 1 is fixed on Mecanum wheel mobile platform 8 by special battery carrier, powers to whole system,
Battery carrier and battery 1 pass through compression and are connected, and battery carrier is bolted to connection with Mecanum wheel mobile platform 8.Photographic head
It is fastened on transmitting storehouse 3 outer wall by bolt presses, several ultrasonic sensors are uniformly distributed and are fixed on Mecanum wheel
Mobile platform 8 surrounding, photographic head, ultrasonic sensor, Yaw spindle motor 11 and Pitch spindle motor 4 are respectively with MiniPC machine 10 even
Connect, MiniPC machine 10 is bolted and is fixed on Mecanum wheel mobile platform 8.
Photographic head is used for collection site ambient image information.
Ultrasonic sensor is used for finding range.
Described Mecanum wheel mobile platform 8 is prior art, in document《A kind of comprehensive shifting based on Mecanum wheel
Moving platform》In disclosed.
Work process is as follows：
Work process is broadly divided into four parts, is the movement of Mecanum wheel mobile platform 8, the pitching of head respectively, sends out
Penetrate percussion and other job contents such as content such as target recognition, ultrasonic ranging of mechanism.
Head is realized rotating and trunnion axis pitching around vertical axises by head, and then drives trigger mechanism adjustment attitude, from
And adjust the function of transmitting tube 6 sensing.Yaw spindle motor 11 is fixed on Mecanum wheel mobile platform 8, its output shaft and Yaw
Axle swivel mount 12 is connected, and the rotation of Yaw spindle motor 11 trunnion axis can drive head to horizontally rotate.Pitch spindle motor 4 and Yaw
Axle swivel mount 12 is connected by screw, and is connected on Yaw axle swivel mount 12, and it is solid with pitching frame 13 that its output shaft then passes through shaft coupling
Even, rotate in the same manner with Yaw axle, Pitch axle can also control the pitching of pitching frame 13 by Pitch spindle motor 4, in addition, transmitting
Mechanism's all parts are all directly or indirectly connected on transmitting storehouse 3, and launch storehouse 3 and be connected with pitching frame 13.Therefore, pass through
Pitch spindle motor 4 drives pitching frame 13 pitching can drive the pitching of trigger mechanism, and Yaw spindle motor 11 then can be by controlling
The horizontal rotation of Pitch shaft portion, and then control overall horizontal rotation to rotate with pitching.
The principle of trigger mechanism is two friction pulley opposite direction rotatings of friction turbin generator 5（Outwards rotate）, and then give bullet
Accelerate to make bullet quickly leave gun barrel.It is cased with friction pulley outside friction turbin generator 5, can be driven by the turbin generator 5 that rubs and rub
Wipe wheel high-speed rotation, dial bullet motor 14 and be fixed with bullet driver plate, driver plate enters bullet mouth phase with the leakage bullet mouth in transmitting storehouse 3, transmitting tube
Join, dial bullet motor 14 and drive the rotation of driver plate that bullet can be made to pass through to leak bullet mouth entrance transmitting tube, then accelerated by friction pulley,
Transmitting tube 6 can be left at a high speed launch.
The movement of Mecanum wheel mobile platform 8 is prior art.Additionally, ultrasound wave etc. is believed to it by MiniPC machine 10
Breath is processed, and then obtains the distance apart from obstacle.Its photographic head is connected on transmitting storehouse 3 outer wall, can gather image with
MiniPC machine 10 communicates, and then realizes target recognition and the function of automatic transmitting.
Claims (5)
1. a kind of projectile robot of Mecanum wheel omnidirectional it is characterised in that：Including Mecanum wheel mobile platform（8）, head
And trigger mechanism, head is fixed on Mecanum wheel mobile platform（8）Top, trigger mechanism is fixed on head；
Described head includes Yaw axle swivel mount（12）, Yaw spindle motor（11）, Pitch spindle motor（4）, pitching frame（13）, Yaw
Spindle motor（11）It is fixed on Mecanum wheel mobile platform（8）Top, Yaw spindle motor（11）Output shaft pass through connector with
Yaw axle swivel mount（12）Bottom surface is connected, Yaw axle swivel mount（12）Top and pitching frame（13）Rotate and connect, shape after both connections
Become trigger mechanism fixed mount, trigger mechanism is fixed in trigger mechanism fixed mount, Pitch spindle motor（4）It is fixed on the rotation of Yaw axle
Frame（12）On, its output shaft and pitching frame（13）It is connected.
2. projectile robot of Mecanum wheel omnidirectional according to claim 1 it is characterised in that：Described connector is cylinder
Body, one end has and Yaw spindle motor（11）Output shaft coupling groove, the other end and Yaw axle swivel mount（12）Bottom surface is connected.
3. projectile robot of Mecanum wheel omnidirectional according to claim 1 it is characterised in that：Described Yaw axle swivel mount
（12）With pitching frame（13）It is U-shaped frame, both openings relatively, are rotated by bearing and connect, form trigger mechanism and fix
Frame.
4. projectile robot of Mecanum wheel omnidirectional according to claim 1 it is characterised in that：Described trigger mechanism includes
Transmitting tube（6）, friction turbin generator（5）, dial bullet motor（14）, transmitting storehouse protective cover（2）With transmitting storehouse（3）, transmitting tube（6）Fixing
In transmitting storehouse（3）Bottom, both junctions have Lou bullet mouth, transmitting storehouse protective cover（2）It is connected in transmitting storehouse（3）Top, transmitting
Storehouse（3）Yaw axle swivel mount with trigger mechanism fixed mount（12）It is connected；Dial bullet motor（14）It is fixed on transmitting storehouse（3）In bottom
The heart, dials bullet motor（14）Output shaft stretch into transmitting storehouse（3）, dial bullet motor（14）Thumb wheel and transmitting tube（6）Leakage bullet mouth position
Put and correspond to so that bullet is rotated into transmitting tube by thumb wheel（6）；Transmitting tube（6）Outer wall has window, and rub turbin generator（5）
Transmitting storehouse is fixed on by motor fixing frame（3）Outer wall, rub turbin generator（5）Two friction pulleys stretch into transmitting tube（6）Window,
Enter transmitting tube（6）Bullet after two friction pulleys, from emission port transmitting.
5. projectile robot of Mecanum wheel omnidirectional according to claim 1 it is characterised in that：Also include battery（1）, take the photograph
As head, MiniPC machine（10）With several ultrasonic sensors, wherein, battery（1）Mecanum wheel is fixed on by battery carrier
Mobile platform（8）On, photographic head is fixed on transmitting storehouse（3）Outer wall, several ultrasonic sensors are uniformly distributed and are fixed on Mike
Na Mu takes turns mobile platform（8）Surrounding, photographic head, ultrasonic sensor, Yaw spindle motor（11）With Pitch spindle motor（4）Respectively with
MiniPC machine（10）Connect, MiniPC machine（10）It is fixed on Mecanum wheel mobile platform（8）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620930003.XU CN205940280U (en) | 2016-08-23 | 2016-08-23 | Projectile robot of mecanum wheel qxcomm technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620930003.XU CN205940280U (en) | 2016-08-23 | 2016-08-23 | Projectile robot of mecanum wheel qxcomm technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205940280U true CN205940280U (en) | 2017-02-08 |
Family
ID=57952298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620930003.XU Expired - Fee Related CN205940280U (en) | 2016-08-23 | 2016-08-23 | Projectile robot of mecanum wheel qxcomm technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205940280U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106091814A (en) * | 2016-08-23 | 2016-11-09 | 南京理工大学 | Projectile robot of a kind of Mecanum wheel omnidirectional |
| CN108972621A (en) * | 2018-07-26 | 2018-12-11 | 华南理工大学 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
| CN110832267A (en) * | 2018-11-20 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Cloud platform, shot transmitting system and robot |
-
2016
- 2016-08-23 CN CN201620930003.XU patent/CN205940280U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106091814A (en) * | 2016-08-23 | 2016-11-09 | 南京理工大学 | Projectile robot of a kind of Mecanum wheel omnidirectional |
| CN108972621A (en) * | 2018-07-26 | 2018-12-11 | 华南理工大学 | A kind of 360 degree rotation holder robot chassis based on conducting slip ring |
| CN110832267A (en) * | 2018-11-20 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Cloud platform, shot transmitting system and robot |
| WO2020102999A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳市大疆创新科技有限公司 | Gimbal, projectile launching system, and robot |
| CN110832267B (en) * | 2018-11-20 | 2021-09-21 | 深圳市大疆创新科技有限公司 | Cloud platform, shot transmitting system and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20180823 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |